LIMIT3

NAME
SYNOPSIS
FUNCTIONS
PINS
LICENSE

NAME

limit3 − Follow input signal while obeying limits

SYNOPSIS

Limit the output signal to fall between min and max, limit its slew rate to less than maxv per second, and limit its second derivative to less than maxa per second squared. When the signal is a position, this means that the position, velocity, and acceleration are limited.

FUNCTIONS

limit3.N

(requires a floating-point thread)

PINS

limit3.N.in

float in

limit3.N.out

float out

limit3.N.load

bit in (default: 0) When TRUE, immediately set out to in, ignoring maxv and maxa

limit3.N.min

float in (default: -1e20)

limit3.N.max

float in (default: 1e20)

limit3.N.maxv

float in (default: 1e20)

limit3.N.maxa

float in (default: 1e20)

limit3.N.smooth-steps

u32 in (default: 2) Smooth out acceleration this many periods before reaching input or max/min limit. Higher values avoid oscillation, but will accelerate slightly more slowly.

LICENSE

GPL